Apparatus and method for controlling lane change considering priority

ABSTRACT

There are provided an apparatus and a method for controlling a lane change considering priority. The apparatus for controlling a lane change includes: a collision judger checking whether or not there is an object vehicle having collision possibility that attempts to change a lane from a region of interest road corresponding to an ego-road on which an ego-vehicle is being driven to a target road to which the ego-vehicle changes the lane, before or during the lane change of the ego-vehicle; and a priority determiner determining a priority vehicle that first performs the lane change among the ego-vehicle and the object vehicle considering at least one of accessibility to the target road of the ego-vehicle and the object vehicle when there is the object vehicle, and accessibility to a join point when the object vehicle or the ego-vehicle is positioned on a road to be joined.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a Continuation application of U.S. Ser. No.15/263,785 filed Sep. 13, 2016, which claims the benefit of priority toKorean Patent Application No. 10-2016-0065768, filed on May 27, 2016.The subject matter of each is incorporated herein by reference inentirety.

TECHNICAL FIELD

The present disclosure relates to a technology of preventing a collisionat the time of changing a lane, and more particularly, to an apparatusand a method for controlling a lane change considering priority thatchange the lane by considering the priority of a vehicle.

BACKGROUND

In general, vehicles, which are being driven on a road, may frequentlychange their lane, and when two vehicles attempt to change a lane towardthe same lane, there is danger of accident.

Accordingly, according to the related art, when the lane change toward atarget lane to be changed is performed, a collision danger with anobject vehicle was determined by a vehicle sensor, based on speed of theobject vehicle and a relative distance with an ego-vehicle.

SUMMARY

The present disclosure has been made to solve the above-mentionedproblems occurring in the prior art while advantages achieved by theprior art are maintained intact.

An aspect of the present disclosure provides an apparatus and a methodfor controlling a lane change considering priority capable of performinga control so that a lane is changed avoiding a collision consideringpriority of the lane change of a vehicle.

Objects of the present disclosure are not limited to the objectsdescribed above, and other objects that are not described above may beclearly understood by those skilled in the art from the followingdescription.

According to an exemplary embodiment of the present disclosure, anapparatus for controlling a lane change includes: a collision judgerchecking whether or not there is an object vehicle having collisionpossibility that attempts to change a lane from a region of interestroad corresponding to an ego-road on which an ego-vehicle is beingdriven to a target road to which the ego-vehicle changes the lane,before or during the lane change of the ego-vehicle; and a prioritydeterminer determining a priority vehicle that first performs the lanechange among the ego-vehicle and the object vehicle considering at leastone of accessibility to the target road of the ego-vehicle and theobject vehicle when there is the object vehicle, and accessibility to ajoin point when the object vehicle or the ego-vehicle is positioned on aroad to be joined.

According to another exemplary embodiment of the present disclosure, amethod for controlling a lane change by at least one processor includes:checking whether or not there is an object vehicle having collisionpossibility that attempts to change a lane from a region of interestroad corresponding to an ego-road on which an ego-vehicle is beingdriven to a target road, before or during the lane change of theego-vehicle; and determining a priority vehicle that first performs thelane change among the ego-vehicle and the object vehicle considering atleast one of accessibility to the target road when there is the objectvehicle, and accessibility to a join point when the object vehicle orthe ego-vehicle is positioned on a road to be joined.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the presentdisclosure will be more apparent from the following detailed descriptiontaken in conjunction with the accompanying drawings.

FIG. 1 is a block diagram illustrating an apparatus for controlling alane change according to the present disclosure.

FIGS. 2A to 2D are views illustrating examples of determining priorityof the apparatus for controlling a lane change according to the presentdisclosure.

FIG. 3 is a flowchart illustrating a method for controlling a lanechange according to the present disclosure.

DETAILED DESCRIPTION

The objects described above and other objects, and advantages andfeatures of the present disclosure and methods to achieve them will beelucidated from exemplary embodiments described below in detail withreference to the accompanying drawings. However, the present disclosureis not limited to exemplary embodiments disclosed below, but will beimplemented in various forms. The exemplary embodiments of the presentdisclosure make a description of the present disclosure thorough and areprovided so that those skilled in the art can easily understand thescope of the present disclosure. Therefore, the present disclosure willbe defined by the scope of the appended claims. Meanwhile, terms used inthe present specification are to explain exemplary embodiments ratherthan limiting the present disclosure. Unless explicitly described to thecontrary, a singular form includes a plural form in the presentspecification. The word “comprises” and/or “comprising” used in thepresent specification will be understood to imply the inclusion ofstated component, steps, operations and/or elements but not theexclusion of any other components, steps, operations and/or elements.

Hereinafter, exemplary embodiments of the present disclosure will bedescribed in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram illustrating an apparatus for controlling alane change according to an exemplary embodiment of the presentdisclosure.

As illustrated in FIG. 1, an apparatus 10 for controlling a lane changeaccording to an exemplary embodiment of the present disclosure includesa collision judger 130, a priority determiner 140, and a lane changesupporter 150.

When an ego-vehicle attempts to change a lane on which the ego-vehicleis being driven, the collision judger 130 checks, based on receivedinformation from a sensor 110 and/or a communicator 120, a region ofinterest road corresponding to an ego-road on which the ego-vehicle isbeing driven. In addition, the collision judger 130 checks whether ornot there is an object vehicle having collision possibility thatattempts to change a lane from the region of interest road to a targetroad of the lane change of the ego-vehicle.

For example, in the case in which the ego-vehicle is being driven on afirst road and the target road is a second road, the collision judger130 may determine a third road as the region of interest road.

Here, in the case in which the ego-vehicle is a non-autonomous vehicle,the collision judger 130 may check the attempt of the lane change by ablinker operation, a handle operation, or the like of a driver.

Further, in the case in which the ego-vehicle is an autonomous vehicle,the collision judger 130 may check the attempt of the lane change by anautonomous driving value of an autonomous system. In this case, thecollision judger 130, the priority determiner 140, and the lane changesupporter 150 may be components of the autonomous system.

The collision judger 130 may check whether or not there is the objectvehicle having collision danger, based on information received fromleast one sensor 110 of lidar, radar, and a camera. More particularly,the collision judger 130 may instruct the at least one sensor 110 tosend a signal or an image from each of the sensors 110, and analyze thereceived signal or image to check whether or not there is the objectvehicle having collision possibility.

Optionally or alternatively, the collision judger 130 may check whetheror not there is the object vehicle having collision possibility, usingvehicle-to-everything (V2X) or Vehicle to Vehicle (V2V) basedcommunication or connectivity based communication via a communicator120. In this case, the collision judger 130 may also check whether ornot there is the object vehicle by checking a position of a surroundingvehicle by a GPS coordinate, or the like used by a path guidance devicesuch as navigation, or the like, based on information received throughthe communicator 120.

Thus, the collision judger 130 may check whether or not a vehicle ofinterest which is being driven on the region of interest road is theobject vehicle having collision possibility, based on driving speeds ofthe ego-vehicle and the surrounding vehicle, and a distance between theego-vehicle and the surrounding vehicle. Information such as the speedof the ego-vehicle can be provided to the collision judger 130 by theego-vehicle itself while information such as the speed and the relativeposition of the surrounding vehicle can be provided to the collisionjudger 130 by operations of the sensor 110 and/or the communicator 120.Information such as the distance between the ego-vehicle and thesurrounding vehicle can be determined by the collision judger 130 withexecution of stored computer-readable code or software by a processor ofthe collision judger 130.

In the case in which there is the object vehicle, the prioritydeterminer 140 determines a priority vehicle that the lane change isfirst performed, among the ego-vehicle and the object vehicleconsidering at least one of accessibility to a join point, a reason of alane change, and accessibility to the target road.

In this case, the priority determiner 140 determines the priorityvehicle by different methods in the cases in which communication betweenthe ego-vehicle and the object vehicle is available and is unavailable.Hereinafter, each of the cases will be separately described.

First, in the case in which the communication between the vehicles isunavailable, the priority determiner 140 determines the priority vehicleconsidering accessibility to the target road.

More particularly, the priority determiner 140 may determine a vehicleof which a body occupies the target road more than the other, or avehicle which is closer to a center of the target road than the other,among the ego-vehicle and the object vehicle, as the priority vehicle.In this case, the priority determiner 140 may check accessibility to thetarget road based on the image or the signal from the at least onesensor 110.

Next in the case in which the communication between the vehicles isavailable, the priority determiner 140 checks the reason of the lanechange of the object vehicle through the communication between thevehicles via the communicator 120. In addition, the priority determiner140 may determine a vehicle having the reason of the lane change havinghigher priority among the ego-vehicle and the object vehicle consideringpreset priority, as the priority vehicle.

Here, in the case in which the reasons of the lane change of theego-vehicle and the object vehicle have the same priority, the prioritydeterminer 140 may also determine the priority vehicle consideringaccessibility to the target road, similar to the case in which thecommunication between the vehicles is unavailable.

Alternatively, in the case in which at least one of the ego-vehicle andthe object vehicle is being driven on a road which is joined with thetarget road, the priority determiner 140 may also determine a vehiclewhich is closer to the junction point as the priority vehicle.

In this case, the reason of the lane change described above may includeat least one of a lane change due to no lane, a lane change for a rightturn or a left turn, and a normal lane change.

In this case, the priority may be set to be high in order of the lanechange due to no lane, the lane change for the left/right turn, and thenormal lane change. Here, the normal lane change may be a change for apassing, a change for returning after the passing, a change for adriving using the target road, and the like.

Alternatively, also in the case in which the communication between thevehicles is available, the priority determiner 140 does not transmit andreceive the reason of the lane change, and may also determine thepriority vehicle using only at least one of accessibility to the joinpoint and accessibility to the target road.

In the case in which the ego-vehicle is not the priority vehicle, but isthe autonomous vehicle, the lane change supporter 150 may attempt tochange the lane after the lane change of the object vehicle. In thiscase, the lane change supporter 150 may also perform a control such asdeceleration, or the like, as needed.

In the case in which the ego-vehicle is not the priority vehicle, and isnot the autonomous vehicle, the lane change supporter 150 may warn adriver of the danger of the lane change, or assist in controlling a lanekeep.

Here, the lane change supporter 150 may be a blind spot detectiondevice, and may also be a component that communicates with the blindspot detection device. Alternatively, the lane change supporter 150 maybe a lane keep assistance system (LKAS), and may also be a componentthat communicates with the LKAS.

Meanwhile, according to the exemplary embodiment described above, thecollision judger 130, the priority determiner 140, and the lane changesupporter 150 may include at least one processor and at least onememory. Alternatively, the collision judger 130, the priority determiner140, and the lane change supporter 150 may also be components includedin the at least one processor. The memory may store a program,computer-readable code, or software. The above operations may beimplemented with execution of the store program, computer-readable code,or software by the processor.

As described above, according to the exemplary embodiment of the presentdisclosure, since the collision danger of the two vehicles that changetheir lanes toward the same road may be prevented in advance, a safedriving of the driver may be supported.

Hereinafter, examples of determining priority of the apparatus forcontrolling a lane change according to an exemplary embodiment of thepresent disclosure will be described with reference to FIGS. 2A to 2D.FIGS. 2A to 2D are views illustrating examples of determining priorityof the apparatus for controlling a lane change according to an exemplaryembodiment of the present disclosure.

Case in which Communication Between Vehicles is Unavailable

Referring to FIG. 2A, the collision judger 130 of the ego-vehicle(vehicle A) that intends to change a lane to the second road while beingdriven on the first road checks whether or not a vehicle exists on athird road, which is the region of interest road. As a check result,since a vehicle B exists on the third road, the collision judger 130judges whether or not the vehicle B on the third road attempts to changethe lane.

The collision judger 130 may check, based on the information provided bythe sensor 110 and/or the information on the vehicle B received from thecommunicator 120, that the vehicle B attempt to change the lane bychecking that the vehicle B gradually becomes close to the second roadfrom a transverse position variation of the vehicle B over time (see animage from a previous position to a current position of FIG. 2A).

The collision judger 130 may check whether or not the vehicle B is theobject vehicle having the collision danger using speeds of the vehicle Aand the vehicle B, and a distance between the vehicle A and the vehicleB.

For example, in the case in which the speed of the vehicle A is 80 km/h,the speed of the vehicle B (current position) ahead is 70 km/h, and alongitudinal distance between the two vehicles is 10 m, when thevehicles A and B simultaneously perform the lane change, the collisiondanger and sense of difference may occur. In this case, the collisionjudger 130 determines the vehicle B as the object vehicle, and informsthe priority determiner 140 that the vehicle B is determined as theobject vehicle.

Since both the vehicles A and B are not positioned on a join road, thepriority determiner 140 determines the priority vehicle among thevehicles A and B considering accessibility to the second road, which isthe target road, of the vehicles A and B.

In FIG. 2A, since the vehicle B is closer to the center of the secondroad than the vehicle A, the priority determiner 140 may determine thevehicle B as the priority vehicle. Accordingly, the vehicle B havingpriority may continue to perform the lane change.

In this case, in the case in which the vehicle A having low priority isthe autonomous vehicle, the lane change supporter 150 of the vehicle Aperforms the lane change after securing a safety distance bydeceleration or acceleration after the completion of the lane change ofthe vehicle B.

On the other hand, in the case in which the vehicle A is not theautonomous vehicle, the lane change supporter 150 of the vehicle A warnsthe driver of the vehicle A using a speaker, or the like so as not tochange the lane. Alternatively, the lane change supporter 150 of thevehicle A may also support a lane keep control.

Meanwhile, unlike FIG. 2A, the ego-vehicle does not find the objectvehicle at a point of time at which the lane change is determined, andmay also check the object vehicle while the lane change is beingperformed.

Hereinafter, a method for controlling a lane change in the case in whichthe object vehicle is found while the lane change is being performedwill be described with reference to FIG. 2B.

Referring to FIG. 2B, the vehicle A and the vehicle B determine the lanechange and start the lane change at the same point of time t.

In addition, the collision judger 130 recognizes that the two vehiclessimultaneously perform the lane change at a point of time (t+k) at whichthe lane change is being performed, and judges that there is a mutualcollision danger.

As a check result, since the vehicle B is slightly closer to the centerof the second road than the vehicle A and a body thereof also more comesover to the second road, the priority determiner 140 judges that thevehicle B is the priority vehicle.

Accordingly, the vehicle B having priority continues to perform the lanechange to the second road at a point of time (t+k+x), which is after thedetermination of priority. In this case (the point of time (t+k+x)), thevehicle A returns to the first road, which is an original lane, andperforms the lane change after securing the safety distance bydeceleration or acceleration after the completion of the lane change ofthe vehicle B.

Meanwhile, as illustrated in FIGS. 2A and 2B, in the case in which thecommunication between the vehicles A and B is unavailable, when at leastone of the vehicle A and the vehicle B exists on the join lane, avehicle which is closer to the join point among the two vehicles may bedetermined as the priority vehicle.

Case in which Communication Between Vehicles is Available

As illustrated in FIG. 2C, the collision judger 130 of the vehicle A andthe vehicle B informs the surrounding vehicles that the lane change isperformed, and information of the target road, using the communicator120.

If there is the object vehicle having collision danger by the lanechange to the same road among the surrounding vehicles, the collisionjudger 130 informs the object vehicle of the reason of the lane change(t_(c)).

However, since the reason of the lane change of the vehicle A is thepassing (the normal lane change) and the reason of the lane change ofthe vehicle B is a lane join, the priority determiner 140 of thevehicles A and B determines that priority of the vehicle B is higherthan that of the vehicle A.

Accordingly, after the vehicle B first completes the lane change, thelane change supporter 150 of the vehicle A attempts to change the lanewhile keeping a distance with the vehicle B (t_(c)+k+x).

Alternatively, as illustrated in FIG. 2D, in the case in which bothdriving roads of the vehicles A and B are joined toward the target road,both the vehicles A and B need to perform the lane change to the targetroad. In this case, the vehicle A which is closer to the join point thanthe vehicle B first performs the lane change, and the vehicle B mayperform deceleration and may then attempt to change the lane after thecompletion of the lane change of the vehicle A.

Hereinafter, a method for controlling a lane change according to anexemplary embodiment of the present disclosure will be described withreference to FIG. 3. FIG. 3 is a flowchart illustrating a method forcontrolling a lane change according to an exemplary embodiment of thepresent disclosure.

Referring to FIG. 3, if vehicle to vehicle communication is available(Yes in S310), the collision judger 130 informs surrounding vehiclesthat a lane change is attempted (a lane change intention) andinformation of a target road, which is a road of which a lane is to bechanged, before attempting the lane change using the vehicle to vehiclecommunication (S320).

Next, the collision judger 130 checks whether or not there is a vehicleof interest that attempts to change a lane to the target road on aregion of interest road (S330).

In this case, the collision judger 130 may check whether or not there isthe vehicle of interest using at least one of at least one sensor 110such as lidar, radar, and a camera, communication of V2X, Vehicle toVehicle (V2V) and connectivity based communications. As such, thecollision judger 130 may check whether or not there is the vehicle ofinterest by receiving the lane change intention and the information ofthe target road from other vehicles.

In addition, the collision judger 130 may also check whether or notthere is the vehicle of interest attempting the lane change by checkingthat a vehicle which is being currently driven on the region of interestroad becomes close to the target road over time by the sensor 110.

If there is the vehicle of interest the collision judger 130 checkswhether or not there is collision possibility between the ego-vehicleand the vehicle of interest (S340). In this case, the collision judger130 may check the collision possibility between the ego-vehicle and thevehicle of interest using speeds of the ego-vehicle and the vehicle ofinterest and a longitudinal distance between the ego-vehicle and thevehicle of interest.

As a check result, if there is the collision possibility, the collisionjudger 130 may determine the vehicle of interest as the object vehicle.

The priority determiner 140 determines the priority vehicle usingpriorities of the reasons of the lane change of the ego-vehicle and theobject vehicle (S350).

Here, the priority determiner 140 may also determine the priorityvehicle using at least one of accessibility to the target lane of theego-vehicle and the object vehicle, and accessibility to a join pointwhen at least one of the ego-vehicle and the object vehicle is beingdriven on a road to be joined with the target road.

As described above, according to the exemplary embodiment of the presentdisclosure, since the collision danger of the two vehicles that changetheir lanes toward the same road may be prevented in advance, a safedriving of the driver may be supported.

As described above, according to the exemplary embodiments of thepresent disclosure, when the two vehicles change their lane into thesame road, collision possibility between the two vehicles may bedecreased.

Hereinabove, although the present disclosure has been described withreference to exemplary embodiments and the accompanying drawings, thepresent disclosure is not limited thereto, but may be variously modifiedand altered by those skilled in the art to which the present disclosurepertains without departing from the spirit and scope of the presentdisclosure claimed in the following claims.

What is claimed is:
 1. An apparatus for controlling a lane change, theapparatus comprising: a processor for: 1) checking, before or during alane change of an ego-vehicle, whether or not there is an object vehiclehaving a collision possibility that attempts to change a lane from aregion of an interest road corresponding to an ego-road on which theego-vehicle is being driven to a target road to which the ego-vehiclechanges lanes; 2) determining a priority vehicle that first performs thelane change among the ego-vehicle and the object vehicle, based on atleast one of accessibility to the target road of the ego-vehicle and theobject vehicle when the object vehicle is detected, and accessibility toa join point when the object vehicle or the ego-vehicle is positioned ona road to be joined; and 3) informing a driver of a danger of the lanechange when the ego-vehicle is not the priority vehicle.
 2. Theapparatus of claim 1, wherein the processor informs surrounding vehiclesof a lane change intention and of information of the target road throughVehicle to Vehicle (V2V) communication before attempting the lanechange.
 3. The apparatus of claim 1, wherein the processor includes oneor more of a blind spot detection system and a lane keep assistancesystem.
 4. The apparatus of claim 1, wherein the processor checkswhether or not there is an object vehicle having the collisionpossibility based on information received from at least one sensorselected from the group consisting of a lidar, a radar and a camera. 5.The apparatus of claim 1, wherein the processor informs the objectvehicle of a reason of a lane change through the vehicle to vehiclecommunication when the object vehicle is detected.
 6. The apparatus ofclaim 5, wherein when the reason of the lane change is received from theobject vehicle, the processor determines the priority vehicle among theego-vehicle and the object vehicle considering a preset priority of thereason of the lane change.
 7. The apparatus of claim 5, wherein when theobject vehicle does not receive the reason of the lane change, or thereasons of the lane change of the ego-vehicle and the object vehiclehave the same priority, the processor determines the priority vehiclebased on the accessibility to the target road checked and theaccessibility to the join point in accordance with information receivedfrom a sensor.
 8. A method for controlling a lane change by a processor,the method comprising: checking, by the processor before or during alane change of an ego-vehicle, whether or not there is an object vehiclehaving a collision possibility that attempts to change lanes from aregion of interest road corresponding to an ego-road on which theego-vehicle is being driven to a target road; and determining, by theprocessor, a priority vehicle that first performs the lane change amongthe ego-vehicle and the object vehicle considering at least one ofaccessibility to the target road when the object vehicle is detected,and accessibility to a join point when the object vehicle or theego-vehicle is positioned on a road to be joined; and informing, by theprocessor, a driver of a danger of the lane change when the ego-vehicleis not the priority vehicle.
 9. The method according to claim 8, furthercomprising informing, by the processor, surrounding vehicles of a lanechange intention and of information of the target road through Vehicleto Vehicle (V2V) communication before attempting the lane change. 10.The method according to claim 8, wherein the step of checking whether ornot there is an object vehicle having the collision possibility includeschecking whether or not there is an object vehicle having the collisionpossibility based on information received from at least one sensorselected from the group consisting of a lidar, a radar and a camera. 11.The method according to claim 8, further comprising informing the objectvehicle of a reason of a lane change through the vehicle to vehiclecommunication when the object vehicle is detected.
 12. The methodaccording to claim 11, wherein the step of determining the priorityvehicle includes determining the priority vehicle among the ego-vehicleand the object vehicle considering a preset priority of the reason ofthe lane change when the reason of the lane change is received from theobject vehicle.
 13. The method according to claim 11, wherein the stepof determining the priority vehicle includes determining the priorityvehicle considering at least one of the accessibility to the target roadof the ego-vehicle and the object vehicle and the accessibility to thejoin point when the object vehicle does not receive the reason of thelane change, or determining the reasons of the lane change of theego-vehicle and the object vehicle have the same priority.